public ClosestBodyFrame(Windows.Kinect.BodyFrame bf, double engageMin, double engageMax)
{
Type = FrameType.ClosestBody;
engageBeginBoundZ = engageMin;
engageEndBoundZ = engageMax;
Body[] bodies = new Body[bf.BodyCount];
bf.GetAndRefreshBodyData(bodies);
double closestDistance = Double.MaxValue;
for (int i = 0; i < bodies.Length; i++)
{
var body = bodies[i];
if (body.IsTracked)
{
TrackedCount++;
}
double distance = DistanceFromKinect(body);
if (IsEngaged(distance))
{
if (body.TrackingId == lastEngagedTrackingId)
{
closestBody = body;
closestIndex = i;
break;
}
else if (distance < closestDistance)
{
closestBody = body;
closestDistance = distance;
closestIndex = i;
}
}
}
// Enagaged implies BodyFound
Debug.Assert(!Engaged || BodyFound);
if (!BodyFound)
{
lastEngagedTrackingId = 0;
}
else if (TrackingId != lastEngagedTrackingId)
{
lastEngagedTrackingId = TrackingId;
}
//Debug.WriteLine("Number of tracked bodies: {0}", trackedCount);
}
void _floorPlaneNewFrame(object sender, BodyFrame frame)
{
if (_bodySourceManager.getReader () != null) {
if (frame != null) {
_vec4 = frame.FloorClipPlane;
//Debug.Log(_vec4.W);
_plane.transform.position = new Vector3 (-4, _vec4.W * (-1), 1);
//_plane.transform.Translate(new Vector3(0.1f,0.1f,0.1f));
}
}
}
void _floorPlaneNewFrame(object sender, BodyFrame frame)
{
if (_bodySourceManager.getReader () != null) {
if (frame != null) {
_vec4 = frame.FloorClipPlane;
//Debug.Log(_vec4.W);
_plane.transform.position = new Vector3 (-4, _vec4.W * (-1), 5);
Probe.transform.position =_plane.transform.position +adjustment;
Room.transform.position = _plane.transform.position + adjustment;
}
}
}
public Status Update()
{
Kinect.MultiSourceFrame frame = _Reader.AcquireLatestFrame();
if (frame == null)
{
//Debug.LogWarning("Frame not arrived");
return(Status.ZeroBody);
}
Kinect.DepthFrame depthFrame = frame.DepthFrameReference.AcquireFrame();
if (depthFrame == null)
{
return(Status.ZeroBody);
}
depthFrame.CopyFrameDataToArray(DepthData);
depthFrame.Dispose();
depthFrame = null;
Kinect.BodyFrame bodyFrame = frame.BodyFrameReference.AcquireFrame();
if (bodyFrame == null)
{
return(Status.ZeroBody);
}
bodyFrame.GetAndRefreshBodyData(_BodyData);
bodyFrame.Dispose();
bodyFrame = null;
int bodyIdx;
Status status;
checkTrackedBody(out bodyIdx, out status);
if (status != Status.ZeroBody)
{
JointData = _BodyData[bodyIdx].Joints;
JointOriendationData = _BodyData[bodyIdx].JointOrientations;
}
return(status);
}
public bool GetMultiSourceFrame(KinectInterop.SensorData sensorData)
{
if(multiSourceFrameReader != null)
{
multiSourceFrame = multiSourceFrameReader.AcquireLatestFrame();
if(multiSourceFrame != null)
{
// try to get all frames at once
msBodyFrame = (sensorFlags & KinectInterop.FrameSource.TypeBody) != 0 ? multiSourceFrame.BodyFrameReference.AcquireFrame() : null;
msBodyIndexFrame = (sensorFlags & KinectInterop.FrameSource.TypeBodyIndex) != 0 ? multiSourceFrame.BodyIndexFrameReference.AcquireFrame() : null;
msColorFrame = (sensorFlags & KinectInterop.FrameSource.TypeColor) != 0 ? multiSourceFrame.ColorFrameReference.AcquireFrame() : null;
msDepthFrame = (sensorFlags & KinectInterop.FrameSource.TypeDepth) != 0 ? multiSourceFrame.DepthFrameReference.AcquireFrame() : null;
msInfraredFrame = (sensorFlags & KinectInterop.FrameSource.TypeInfrared) != 0 ? multiSourceFrame.InfraredFrameReference.AcquireFrame() : null;
bool bAllSet =
((sensorFlags & KinectInterop.FrameSource.TypeBody) == 0 || msBodyFrame != null) &&
((sensorFlags & KinectInterop.FrameSource.TypeBodyIndex) == 0 || msBodyIndexFrame != null) &&
((sensorFlags & KinectInterop.FrameSource.TypeColor) == 0 || msColorFrame != null) &&
((sensorFlags & KinectInterop.FrameSource.TypeDepth) == 0 || msDepthFrame != null) &&
((sensorFlags & KinectInterop.FrameSource.TypeInfrared) == 0 || msInfraredFrame != null);
if(!bAllSet)
{
// release all frames
if(msBodyFrame != null)
{
msBodyFrame.Dispose();
msBodyFrame = null;
}
if(msBodyIndexFrame != null)
{
msBodyIndexFrame.Dispose();
msBodyIndexFrame = null;
}
if(msColorFrame != null)
{
msColorFrame.Dispose();
msColorFrame = null;
}
if(msDepthFrame != null)
{
msDepthFrame.Dispose();
msDepthFrame = null;
}
if(msInfraredFrame != null)
{
msInfraredFrame.Dispose();
msInfraredFrame = null;
}
}
// else
// {
// bool bNeedBody = (sensorFlags & KinectInterop.FrameSource.TypeBody) != 0;
// bool bNeedBodyIndex = (sensorFlags & KinectInterop.FrameSource.TypeBodyIndex) != 0;
// bool bNeedColor = (sensorFlags & KinectInterop.FrameSource.TypeColor) != 0;
// bool bNeedDepth = (sensorFlags & KinectInterop.FrameSource.TypeDepth) != 0;
// bool bNeedInfrared = (sensorFlags & KinectInterop.FrameSource.TypeInfrared) != 0;
//
// bAllSet = true;
// }
}
return (multiSourceFrame != null);
}
return false;
}
public void FreeMultiSourceFrame(KinectInterop.SensorData sensorData)
{
// release all frames
if(msBodyFrame != null)
{
msBodyFrame.Dispose();
msBodyFrame = null;
}
if(msBodyIndexFrame != null)
{
msBodyIndexFrame.Dispose();
msBodyIndexFrame = null;
}
if(msColorFrame != null)
{
msColorFrame.Dispose();
msColorFrame = null;
}
if(msDepthFrame != null)
{
msDepthFrame.Dispose();
msDepthFrame = null;
}
if(msInfraredFrame != null)
{
msInfraredFrame.Dispose();
msInfraredFrame = null;
}
if(multiSourceFrame != null)
{
multiSourceFrame = null;
}
}
// Update is called once per frame
void Update()
{
// process bodies
bool newBodyData = false;
using (Kinect.BodyFrame bodyFrame = this.bodyFrameReader.AcquireLatestFrame()) {
if (bodyFrame != null)
{
bodyFrame.GetAndRefreshBodyData(this.bodies);
newBodyData = true;
}
}
if (newBodyData)
{
List <ulong> trackedIds = new List <ulong>();
foreach (var body in bodies)
{
if (body == null)
{
continue;
}
if (body.IsTracked)
{
trackedIds.Add(body.TrackingId);
}
}
List <ulong> knownIds = new List <ulong>(_Bodies.Keys);
// First delete untracked bodies
foreach (ulong trackingId in knownIds)
{
if (!trackedIds.Contains(trackingId))
{
Destroy(_Bodies[trackingId]);
_Bodies.Remove(trackingId);
}
}
// update gesture detectors with the correct tracking id
for (int bodyIndex = 0; bodyIndex < this.bodyCount; bodyIndex++)
{
var body = this.bodies [bodyIndex];
if (body != null)
{
var trackingId = body.TrackingId;
if (body.IsTracked == true)
{
thisbody = bodyIndex;
handasmouse(body);
if (!_Bodies.ContainsKey(body.TrackingId))
{
Debug.Log("Create");
_Bodies [body.TrackingId] = CreateBodyObject(body.TrackingId);
}
Debug.Log("RE");
RefreshBodyObject(body, _Bodies [body.TrackingId]);
// real_time_real_time_skeleton_detect (body);
}
// if the current body TrackingId changed, update the corresponding gesture detector with the new value
/*
* if (trackingId != this.gestureDetectorList [bodyIndex].TrackingId) {
* //GestureTextGameObject.text = "none";
*
* //this.bodyText[bodyIndex] = "none";
* this.gestureDetectorList [bodyIndex].TrackingId = trackingId;
*
* // if the current body is tracked, unpause its detector to get VisualGestureBuilderFrameArrived events
* // if the current body is not tracked, pause its detector so we don't waste resources trying to get invalid gesture results
* this.gestureDetectorList [bodyIndex].IsPaused = (trackingId == 0);
* this.gestureDetectorList [bodyIndex].OnGestureDetected += CreateOnGestureHandler (bodyIndex);
* }*/
}
}
}
}
void Update()
{
if (_Reader != null)
{
_Frame = _Reader.AcquireLatestFrame();
if (_Frame != null)
{
//_vec4 = _Frame.FloorClipPlane;
//Vector3 normalVector = new Vector3 (_vec4.X, _vec4.Y, _vec4.Z);
if (_Data == null)
{
_Data = new Body[_Sensor.BodyFrameSource.BodyCount];
}
_Frame.GetAndRefreshBodyData(_Data);
NewFrame(this, _Frame);
_Frame.Dispose();
_Frame = null;
}
}
}
